diff --git a/docs/en/laser.md b/docs/en/laser.md
index 46ac2e26..79e25b28 100644
--- a/docs/en/laser.md
+++ b/docs/en/laser.md
@@ -1,6 +1,6 @@
 # Working with a laser rangefinder
 
-## Rangefinder VL53L1X
+## VL53L1X Rangefinder
 
 The rangefinder model recommended for Clever is STM VL53L1X. This rangefinder can measure distances from 0 to 4 m while ensuring high measurement accuracy.
 
@@ -8,7 +8,7 @@ The [image for Raspberry Pi](microsd_images.md) contains pre-installed correspon
 
 ### Connecting to Raspberry Pi
 
-> **Note** For correct operation of a laser rangefinder with a flight  countroller <a id="download-firmware" href="https://github.com/CopterExpress/Firmware/releases">custom PX4 firmware</a> is needed. See more about firmware in [corresponding article](firmware.md).
+> **Note** You need to flash a <a id="download-firmware" href="https://github.com/CopterExpress/Firmware/releases">custom PX4 firmware</a> on your flight controller for the rangefinder to work correctly. See more about firmware in the [corresponding article](firmware.md).
 
 <script type="text/javascript">
     fetch('https://api.github.com/repos/CopterExpress/Firmware/releases').then(res => res.json()).then(function(data) {
@@ -21,44 +21,44 @@ The [image for Raspberry Pi](microsd_images.md) contains pre-installed correspon
     });
 </script>
 
-Connect the rangefinder to pins 3V, GND, SCL and SDA via the I²C interface:
+Connect the rangefinder to the 3V, GND, SCL and SDA pins via the I²C interface:
 
 <img src="../assets/raspberry-vl53l1x.png" alt="Connecting VL53L1X" height=600>
 
-If the pin marked GND is occupied, you can use another free one using the [pinout](https://pinout.xyz).
+If the pin marked GND is occupied, you can use any other ground pin (look at the [pinout](https://pinout.xyz) for reference).
 
-> **Hint** Via the I²C interface, you can connect several peripheral devices simultaneously. For this purpose, use a parallel connection.
+> **Hint** You can connect several peripheral devices via the I²C interface simultaneously. Use a parallel connection for that.
 
-### Enabling
+### Enabling the rangefinder
 
-[Connect via SSH](ssh.md) and edit file `~/catkin_ws/src/clever/clever/launch/clever.launch` so that driver VL53L1X is enabled:
+[Connect via SSH](ssh.md) and edit file `~/catkin_ws/src/clever/clever/launch/clever.launch` so that the VL53L1X driver is enabled:
 
 ```xml
 <arg name="rangefinder_vl53l1x" default="true"/>
 ```
 
-By default, the rangefinder driver sends the data to Pixhawk (via topic `/mavros/distance_sensor/rangefinder_sub`). To view data from the topic, use command:
+By default, the rangefinder driver sends the data to Pixhawk via the `/mavros/distance_sensor/rangefinder_sub` topic. To view data from the topic, use the following command:
 
-```(bash)
+```bash
 rostopic echo mavros/distance_sensor/rangefinder_sub
 ```
 
 ### PX4 settings
 
-To use the rangefinder data in [PX4 must be configured](px4_parameters.md).
+PX4 should be properly [configured](px4_parameters.md) to use the rangefinder data.
 
-When using EKF2 (`SYS_MC_EST_GROUP` = `ekf2`):
+Set the following parameters when EKF2 is used (`SYS_MC_EST_GROUP` = `ekf2`):
 
-* `EKF2_HGT_MODE` = `2` (Range sensor) – when flying over horizontal floor;
+* `EKF2_HGT_MODE` = `2` (Range sensor) – for flights over horizontal floor;
 * `EKF2_RNG_AID` = `1` (Range aid enabled) – in other cases.
 
-When using LPE (`SYS_MC_EST_GROUP` = `local_position_estimator, attitude_estimator_q`):
+Set the following parameters when LPE is used (`SYS_MC_EST_GROUP` = `local_position_estimator, attitude_estimator_q`):
 
-* The "pub agl as lpos down" flag  is ticked in the `LPE_FUSION` parameter – when flying over horizontal floor.
+* The "pub agl as lpos down" flag should be set in the `LPE_FUSION` parameter – for flights over horizontal floor.
 
-### Obtaining data from Python
+### Receiving data in Python
 
-To obtain data from the topic, create a subscriber:
+In order to receive data from the topic, create a subscriber:
 
 ```python
 from sensor_msgs.msg import Range
@@ -66,7 +66,7 @@ from sensor_msgs.msg import Range
 # ...
 
 def range_callback(msg):
-    # Processing new data from the rangefinder
+    # Process data from the rangefinder
     print 'Rangefinder distance:', msg.range
 
 rospy.Subscriber('mavros/distance_sensor/rangefinder_sub', Range, range_callback)
@@ -74,13 +74,13 @@ rospy.Subscriber('mavros/distance_sensor/rangefinder_sub', Range, range_callback
 
 ### Data visualization
 
-To build a chart using the data from the rangefinder, one can use rqt_multiplot.
+You may use rqt_multiplot tool to plot rangefinder data.
 
 rviz may be used for data visualization. To do this, add a topic of the `sensor_msgs/Range` type to visualization:
 
 <img src="../assets/rviz-range.png" alt="Range in rviz">
 
-See [read more about rviz and rqt](rviz.md).
+Read more [about rviz and rqt](rviz.md).
 
 <!--
 ### Connecting to Pixhawk / Pixracer